{"defaultlang":"zh","titlegroup":{"articletitle":[{"lang":"zh","data":[{"name":"text","data":"大型散货堆体积的快速测量"}]},{"lang":"en","data":[{"name":"text","data":"Rapid volume measurement for large bulk cargo"}]}]},"contribgroup":{"author":[{"name":[{"lang":"zh","surname":"杨","givenname":"德山","namestyle":"eastern","prefix":""},{"lang":"en","surname":"YANG","givenname":"De-shan","namestyle":"western","prefix":""}],"stringName":[],"aff":[{"rid":"aff1","text":""}],"role":["first-author"],"bio":[{"lang":"zh","text":["杨德山(1987-), 男, 河北石家庄人, 2011年于江西理工大学获得学士学位, 2013年于大连海事大学获得硕士学位, 主要从事光电检测、激光测量的研究。E-mail:67186486@qq.com"],"graphic":[],"data":[[{"name":"text","data":"杨德山(1987-), 男, 河北石家庄人, 2011年于江西理工大学获得学士学位, 2013年于大连海事大学获得硕士学位, 主要从事光电检测、激光测量的研究。E-mail:"},{"name":"text","data":"67186486@qq.com"}]]}],"email":"67186486@qq.com","deceased":false},{"name":[{"lang":"zh","surname":"董","givenname":"丽丽","namestyle":"eastern","prefix":""},{"lang":"en","surname":"DONG","givenname":"Li-li","namestyle":"western","prefix":""}],"stringName":[],"aff":[{"rid":"aff1","text":""}],"role":["corresp"],"corresp":[{"rid":"cor1","lang":"zh","text":"董丽丽(1980-), 女, 博士, 副教授, 2002年、2004年、2008年于哈尔滨工业大学分别获得学士、硕士、博士学位, 主要研究方向为光电信息与光电检测等。E-mail:dll_lili@163.com  E-mail:dll_lili@163.com ","data":[{"name":"text","data":"董丽丽(1980-), 女, 博士, 副教授, 2002年、2004年、2008年于哈尔滨工业大学分别获得学士、硕士、博士学位, 主要研究方向为光电信息与光电检测等。E-mail:dll_lili@163.com  E-mail:dll_lili@163.com "}]}],"email":"dll_lili@163.com","deceased":false},{"name":[{"lang":"zh","surname":"梁","givenname":"倩倩","namestyle":"eastern","prefix":""},{"lang":"en","surname":"LIANG","givenname":"Qian-qian","namestyle":"western","prefix":""}],"stringName":[],"aff":[{"rid":"aff1","text":""}],"role":[],"deceased":false},{"name":[{"lang":"zh","surname":"许","givenname":"文海","namestyle":"eastern","prefix":""},{"lang":"en","surname":"XU","givenname":"Wen-hai","namestyle":"western","prefix":""}],"stringName":[],"aff":[{"rid":"aff1","text":""}],"role":[],"bio":[{"lang":"zh","text":["许文海(1956-)，男，教授，博士生导师，1982年、1984年、1991年于哈尔滨工业大学分别获得学士、硕士、博士学位，1993年于东京工业大学获得博士学位，主要从事水下探测、光电检测与光电信息等方面的研究。E-mail:whxu@dlmu.edu.cn"],"graphic":[],"data":[[{"name":"text","data":"许文海(1956-)，男，教授，博士生导师，1982年、1984年、1991年于哈尔滨工业大学分别获得学士、硕士、博士学位，1993年于东京工业大学获得博士学位，主要从事水下探测、光电检测与光电信息等方面的研究。E-mail:"},{"name":"text","data":"whxu@dlmu.edu.cn"}]]}],"email":"whxu@dlmu.edu.cn","deceased":false}],"aff":[{"id":"aff1","intro":[{"lang":"zh","label":"","text":"大连海事大学 信息科学技术学院, 辽宁 大连 116026","data":[{"name":"text","data":"大连海事大学 信息科学技术学院, 辽宁 大连 116026"}]},{"lang":"en","label":"","text":"College of Information Sciences and Technology, Dalian Maritime University, Dalian 116026, China","data":[{"name":"text","data":"College of Information Sciences and Technology, Dalian Maritime University, Dalian 116026, China"}]}]}]},"abstracts":[{"lang":"zh","data":[{"name":"p","data":[{"name":"text","data":"针对现有散货测量系统对堆场环境适应性差、盘点时间长、效率低、操作复杂等不足，提出了一种散货堆体积快速测量方法。同时，利用二维激光扫描仪、差分GPS和姿态测量系统设计了一种体积测量系统。该系统用激光扫描仪动态测量堆体表面的几何信息，用姿态测量系统实时测量扫描仪的空间姿态数据，用GPS测出扫描仪在测量过程中的三维位置；最后通过数据融合计算形成堆体的三维点云，利用点云获得散货堆体积。文中基于单条堆体轮廓点云特征，提出快速堆体下边缘查找算法来去除扫描过程中地面点云的误差影响；采用投影剖分法完成完整堆体点云计算体积。实验显示，利用本文设计的测试系统可在30 s内完成体积为69 m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":"的标准堆体测量，平均相对误差为0.42%，重复测量误差为0.41%。在实际散货堆实验中，可在10 min内完成大小约为31 500 m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":"的散货堆测量，4个不同料堆体积测量的平均重复测量误差为0.74%。结果表明，本方法可在保证测量精度的同时，简单、高效地测量散货堆体积。"}]}]},{"lang":"en","data":[{"name":"p","data":[{"name":"text","data":"A rapid volume measurement method for a bulk cargo was proposed to overcome the shortcomings of traditional bulk measuring systems in poor adaptability for yard environments, longer complete time, lower efficiency and complex operation. Then a volume measuring system consisting of a 2D laser scanner, a difference GPS and an attitude measuring system was designed. For this system, the laser scanner was used to measure dynamically the surface geometry information of a bulk, the attitude measuring system was taken to measure the space attitude data of the scanner in real time and the GPS was utilized to obtain the 3D position of the scanner in measuring processing. Finally, the data fusion was used to calculate 3D point cloud of the bulk cargo and to obtain the volume of the bulk cargo. On the basis of the feature of single scanned outline, an algorithm to extract the down edge of the bulk cargo effectively was proposed to remove the measurement error from ground point cloud and a projection triangulation volume algorithm was used to calculate the volume of bulk's point cloud. Experiment shows that the system could complete the measurement of bulk cargo with a size of 69 m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":" in 30 s, the average relative error is 0.42% and the repeated measurement error is 0.41%. In a reality bulk measurement, the measurement on about 31 500 m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":" takes less than 10 min, and the average repeated measurement error for 4 coal bulks is 0.74%. It shows that the system could measure the volume of bulk cargo quickly and easily on maintaining accurate measurement."}]}]}],"keyword":[{"lang":"zh","data":[[{"name":"text","data":"激光测量"}],[{"name":"text","data":"体积测量"}],[{"name":"text","data":"快速测量"}],[{"name":"text","data":"大型散货堆"}],[{"name":"text","data":"点云边缘"}],[{"name":"text","data":"三角剖分"}]]},{"lang":"en","data":[[{"name":"text","data":"laser measurement"}],[{"name":"text","data":"volume measurement"}],[{"name":"text","data":"rapid measurement"}],[{"name":"text","data":"large bulk"}],[{"name":"text","data":"point cloud edge"}],[{"name":"text","data":"triangulation"}]]}],"highlights":[],"body":[{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"1"}],"title":[{"name":"text","data":"引言"}],"level":"1","id":"s1"}},{"name":"p","data":[{"name":"text","data":"在电厂、港口、储煤基地和粮仓等大型散货集散基地会堆存大量煤炭、矿石、粮食等散货，快速、准确获取当前堆场的储量是国家和企业进行经济规划、战略储备计划、生产安排的关键。"}]},{"name":"p","data":[{"name":"text","data":"随着传感器和激光技术的发展，光学三维建模系统的应用于越来越多"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"blockXref","data":{"data":[{"name":"xref","data":{"text":"1","type":"bibr","rid":"b1","data":[{"name":"text","data":"1"}]}},{"name":"text","data":"-"},{"name":"xref","data":{"text":"6","type":"bibr","rid":"b6","data":[{"name":"text","data":"6"}]}}],"rid":["b1","b2","b3","b4","b5","b6"],"text":"1-6","type":"bibr"}},{"name":"text","data":"]"}]},{"name":"text","data":"，基于三维模型可以进行堆场储量的测量"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"blockXref","data":{"data":[{"name":"xref","data":{"text":"7","type":"bibr","rid":"b7","data":[{"name":"text","data":"7"}]}},{"name":"text","data":"-"},{"name":"xref","data":{"text":"10","type":"bibr","rid":"b10","data":[{"name":"text","data":"10"}]}}],"rid":["b7","b8","b9","b10"],"text":"7-10","type":"bibr"}},{"name":"text","data":"]"}]},{"name":"text","data":"。熊友辉等"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"11","type":"bibr","rid":"b11","data":[{"name":"text","data":"11"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"提出一种便携式激光测量仪，通过多站人工打点的方式进行盘点，虽然该仪器存在测量周期长、精度差、人为影响大等缺点，但仍是现在堆场测量的常用方法。张德津等"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"12","type":"bibr","rid":"b12","data":[{"name":"text","data":"12"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"提出了一种基于多传感器的固定式激光测量方法，该方法将激光扫描仪安装在外界载体(如取料机等)上对堆场进行测量。盛业华等"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"13","type":"bibr","rid":"b13","data":[{"name":"text","data":"13"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"提出了一种基于三维激光扫描点云的多站拼接方法，该方法围绕被测目标布设多个测量点，将各测量获得的点云进行拼接进而获得完整的被测堆体模型。张小虎等"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"14","type":"bibr","rid":"b14","data":[{"name":"text","data":"14"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"提出了激光投影线辅助下的堆场三维形貌摄影测量方法，将可见光图像和激光扫描点云融合建立被测堆场的三维模型。王海波等"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"15","type":"bibr","rid":"b15","data":[{"name":"text","data":"15"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"提出了车载式多站盘点系统。总体来说，目前的堆场测量系统仍然依赖外界设备，存在测量周期长、实时性差、过程复杂、人为影响大等缺点。"}]},{"name":"p","data":[{"name":"text","data":"本文提出了一种散货堆体积快速测量方法，利用二维激光扫描仪、差分全球定位系统(Global Position System，GPS)和姿态测量系统组合设计了一种手提式体积快速测量系统。相对基点测量盘煤仪如便携式盘煤仪、车载定点式盘煤仪，本文方法既不需要围绕煤堆选择测量基点，也不需要在测量基点上对堆体打点测量；相对于固定式盘煤仪和投影辅助盘煤仪，本文方法不依赖于取料机等外界设备，数据处理放于盘煤仪内部，测量完成后可直接生成点云并计算得到结果，不需额外的数据传输。测量人员仅需手提该测量系统围绕被测堆体行走一周即可实时得到被测堆体的体积。实验证明，本系统在保证测量精度的同时，具有适应能力强、快速高效、操作简便和成本低等特点，有良好的应用价值。"}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"2"}],"title":[{"name":"text","data":"测量原理与算法"}],"level":"1","id":"s2"}},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"2.1"}],"title":[{"name":"text","data":"测量原理"}],"level":"2","id":"s2-1"}},{"name":"p","data":[{"name":"text","data":"本文提出的散货堆测量方法的测量示意图如"},{"name":"xref","data":{"text":"图 1","type":"fig","rid":"Figure1","data":[{"name":"text","data":"图 1"}]}},{"name":"text","data":"所示。其测量原理为：当测量人员手提测量系统围绕堆体行走时，激光扫描仪动态测量堆体表面的几何信息；同时姿态测量系统实时测量扫描仪的空间姿态数据，GPS测出扫描仪在测量过程中的三维位置；经过数据融合计算形成堆体的三维点云，并利用点云进行体积计算。"}]},{"name":"fig","data":{"id":"Figure1","caption":[{"lang":"zh","label":[{"name":"text","data":"图1"}],"title":[{"name":"text","data":"手提测量系统的测量示意图"}]},{"lang":"en","label":[{"name":"text","data":"Fig 1"}],"title":[{"name":"text","data":"Measuring schematic of hand-held measurement system"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697450&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697450&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697450&type=middle"}]}},{"name":"p","data":[{"name":"text","data":"以开始测量时刻GPS天线的相位中心为原点建立全局测量坐标系，以水平正北为"},{"name":"italic","data":[{"name":"text","data":"Y"}]},{"name":"text","data":"轴，"},{"name":"italic","data":[{"name":"text","data":"Z"}]},{"name":"text","data":"轴沿重力铅垂线向上，"},{"name":"italic","data":[{"name":"text","data":"X"}]},{"name":"text","data":"轴垂直于"},{"name":"italic","data":[{"name":"text","data":"YOZ"}]},{"name":"text","data":"平面指向正东。测量系统的坐标系主要有激光扫描的局部坐标系(简称"},{"name":"italic","data":[{"name":"text","data":"L"}]},{"name":"text","data":"坐标系)，姿态局部坐标系(简称"},{"name":"italic","data":[{"name":"text","data":"I"}]},{"name":"text","data":"坐标系)和全局测量坐标系(简称"},{"name":"italic","data":[{"name":"text","data":"M"}]},{"name":"text","data":"坐标系)。"}]},{"name":"p","data":[{"name":"text","data":"针对二维激光扫描仪，设任一脚点的测距为"},{"name":"italic","data":[{"name":"text","data":"S"}]},{"name":"text","data":"，扫描角为"},{"name":"italic","data":[{"name":"text","data":"θ"}]},{"name":"text","data":"，则该脚点在全局测量坐标系中的坐标为："}]},{"name":"p","data":[{"name":"dispformula","data":{"label":[{"name":"text","data":"1"}],"data":[{"name":"text","data":" 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"},{"name":"math","data":{"graphicsData":{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697568&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697568&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697568&type=middle"}}}],"id":"gxjmgc-24-9-2126-E6"}}]},{"name":"p","data":[{"name":"text","data":"将式(6)和式(5)带入式(1)可将激光扫描仪获取的堆体表面信息转换为空间三维点云数据。"}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"2.2"}],"title":[{"name":"text","data":"地面点去除处理"}],"level":"2","id":"s2-2"}},{"name":"p","data":[{"name":"text","data":"在测量过程中，激光扫描仪不可避免扫描到被测堆体附近的地面，给堆体三维建模和体积计算带来额外误差，因此需要将地面点从整体点云中去除。由于在大型散货集散基地的堆体是由堆料机堆砌成垛，所以会与地面形成明显的分界，即激光扫描点云中俗称的堆体下边缘。由于二维激光扫描点为顺序扫描，因此找到堆体下边缘点即可去除地面点。目前，已有学者研究了许多点云边缘提取算法"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"16","type":"bibr","rid":"b16","data":[{"name":"text","data":"16"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"，本文针对扫描堆体的轮廓特征，提出一种快速边缘查找算法，算法流程如下："}]},{"name":"p","data":[{"name":"text","data":"(1)在局部坐标系"},{"name":"italic","data":[{"name":"text","data":"y"}]},{"name":"text","data":"-"},{"name":"italic","data":[{"name":"text","data":"z"}]},{"name":"text","data":"平面内，一条激光扫描线得到的堆体轮廓点云如"},{"name":"xref","data":{"text":"图 2","type":"fig","rid":"Figure2","data":[{"name":"text","data":"图 2"}]}},{"name":"text","data":"所示。计算轮廓点云生成后的第一个点到最后一个点的连线的斜率，并求反正切，得到斜率对应的角度为："}]},{"name":"fig","data":{"id":"Figure2","caption":[{"lang":"zh","label":[{"name":"text","data":"图2"}],"title":[{"name":"text","data":"单条轮廓点云"}]},{"lang":"en","label":[{"name":"text","data":"Fig 2"}],"title":[{"name":"text","data":"Points cloud of single outline"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697585&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697585&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697585&type=middle"}]}},{"name":"p","data":[{"name":"dispformula","data":{"label":[{"name":"text","data":"7"}],"data":[{"name":"text","data":" "},{"name":"text","data":"  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3"}]}},{"name":"text","data":"所示。"}]},{"name":"fig","data":{"id":"Figure3","caption":[{"lang":"zh","label":[{"name":"text","data":"图3"}],"title":[{"name":"text","data":"分界点提取"}]},{"lang":"en","label":[{"name":"text","data":"Fig 3"}],"title":[{"name":"text","data":"Extraction of demarcation points"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697632&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697632&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697632&type=middle"}]}},{"name":"p","data":[{"name":"dispformula","data":{"label":[{"name":"text","data":"9"}],"data":[{"name":"text","data":" "},{"name":"text","data":"  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4"}]}},{"name":"text","data":"中"},{"name":"italic","data":[{"name":"text","data":"p"}]},{"name":"sub","data":[{"name":"text","data":"1"}]},{"name":"text","data":"~"},{"name":"italic","data":[{"name":"text","data":"p"}]},{"name":"sub","data":[{"name":"text","data":"3"}]},{"name":"text","data":"点)到拟合分界点m的距离；最后将距离m最近的点("},{"name":"xref","data":{"text":"图 4","type":"fig","rid":"Figure4","data":[{"name":"text","data":"图 4"}]}},{"name":"text","data":"中为"},{"name":"italic","data":[{"name":"text","data":"p"}]},{"name":"sub","data":[{"name":"text","data":"1"}]},{"name":"text","data":"点)取为分界点。通过直线拟合确定分界点依赖于拟合直线交点的准确计算，而由于实际堆体表面和地面的平整度直接影响了堆体拟合直线的特性，最终体积的计算误差会增大。因此通常情况下当堆体分界点明显时，本文采用直接旋转求最小值的方法求取下边缘分界点。"}]},{"name":"fig","data":{"id":"Figure4","caption":[{"lang":"zh","label":[{"name":"text","data":"图4"}],"title":[{"name":"text","data":"不明显分界点提取方法"}]},{"lang":"en","label":[{"name":"text","data":"Fig 4"}],"title":[{"name":"text","data":"Extraction and treatment of inconspicuous demarcation points"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697658&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697658&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697658&type=middle"}]}}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"2.3"}],"title":[{"name":"text","data":"投影Delaunay三角剖分体积算法"}],"level":"2","id":"s2-3"}},{"name":"p","data":[{"name":"text","data":"因为散货堆的堆体形状在空间上没有层叠区域，因此可以利用投影法来计算体积。首先将上述得到的点云投影到"},{"name":"italic","data":[{"name":"text","data":"xy"}]},{"name":"text","data":"平面上，对投影后的点云进行Delaunay三角剖分，剖分为互不包含的独立三角形，且每个三角形对应堆体表面的一个三角面片，三角面片和投影三角形构成一个组合体，如"},{"name":"xref","data":{"text":"图 5","type":"fig","rid":"Figure5","data":[{"name":"text","data":"图 5"}]}},{"name":"text","data":"所示。计算剖分得到的所有三角形对应的组合体的体积并求和，即为整个散货堆的体积V："}]},{"name":"fig","data":{"id":"Figure5","caption":[{"lang":"zh","label":[{"name":"text","data":"图5"}],"title":[{"name":"text","data":"三角面片组合体体积的计算模型"}]},{"lang":"en","label":[{"name":"text","data":"Fig 5"}],"title":[{"name":"text","data":"Calculation model of triangle combined volumes"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697669&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697669&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697669&type=middle"}]}},{"name":"p","data":[{"name":"dispformula","data":{"label":[{"name":"text","data":"10"}],"data":[{"name":"text","data":" "},{"name":"text","data":"  "},{"name":"math","data":{"graphicsData":{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697685&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697685&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697685&type=middle"}}}],"id":"gxjmgc-24-9-2126-E10"}}]},{"name":"p","data":[{"name":"dispformula","data":{"label":[{"name":"text","data":"11"}],"data":[{"name":"text","data":" "},{"name":"text","data":"  "},{"name":"math","data":{"graphicsData":{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697699&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697699&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697699&type=middle"}}}],"id":"gxjmgc-24-9-2126-E11"}}]},{"name":"p","data":[{"name":"text","data":"由此可知，三棱柱的数量越多，体积测量越准确，而激光扫描仪采集的点云数目决定了三棱柱的数量。"}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"2.4"}],"title":[{"name":"text","data":"误差来源及评价指标"}],"level":"2","id":"s2-4"}},{"name":"p","data":[{"name":"text","data":"由点云生成公式可知，影响点云生成准确性的误差因素主要有两类：一类是测量设备的测量误差，主要有激光测距"},{"name":"italic","data":[{"name":"text","data":"S"}]},{"name":"text","data":"和角度"},{"name":"italic","data":[{"name":"text","data":"θ"}]},{"name":"text","data":"的误差，姿态测量误差，GPS定位误差以及航向角测量误差等；另一类是系统安装误差，主要包括不同设备集成安装过程中的偏心量误差和安置角误差。其中，系统安装误差为静态常量，通过系统标定可消除此部分误差的影响；而测量误差为随机误差，不同的测量误差同时存在且交叉影响，是误差分析的难点。因此，需要对系统进行标定研究"},{"name":"sup","data":[{"name":"text","data":"["},{"name":"xref","data":{"text":"17","type":"bibr","rid":"b17","data":[{"name":"text","data":"17"}]}},{"name":"text","data":"]"}]},{"name":"text","data":"。"}]},{"name":"p","data":[{"name":"text","data":"激光点云生成的准确性直接影响体积测量结果的准确性。本文首先通过搭建标准理想堆体模型来验证系统的相对误差"},{"name":"italic","data":[{"name":"text","data":"E"}]},{"name":"text","data":"，相对误差可以反映系统测量的准确性。"}]},{"name":"p","data":[{"name":"dispformula","data":{"label":[{"name":"text","data":"12"}],"data":[{"name":"text","data":" 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LMS511激光扫描仪和天宝差分GPS，利用双天线GPS和动态倾角仪测量姿态。双天线GPS由两个伸缩杆连接，避免了天线受到人体遮挡的影响。测量系统的实物图如"},{"name":"xref","data":{"text":"图 6","type":"fig","rid":"Figure6","data":[{"name":"text","data":"图 6"}]}},{"name":"text","data":"所示，该系统长45 cm，宽20 cm，高20 cm，质量为12.5 kg，对一般被测散货物品的光学特性无特殊要求。"}]},{"name":"fig","data":{"id":"Figure6","caption":[{"lang":"zh","label":[{"name":"text","data":"图6"}],"title":[{"name":"text","data":"手提测量系统实物照片"}]},{"lang":"en","label":[{"name":"text","data":"Fig 6"}],"title":[{"name":"text","data":"Photo of hand-held measurement system"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697746&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697746&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697746&type=middle"}]}},{"name":"p","data":[{"name":"text","data":"本文在系统研制完成后，首先对系统整体进行了安装误差标定，消除了安装误差对测量结果的影响。"}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"3.2"}],"title":[{"name":"text","data":"标准散货模型测量"}],"level":"2","id":"s3-2"}},{"name":"p","data":[{"name":"text","data":"根据散货堆的形状特点，这里搭建了标准四棱台散货堆模型，模型底面为8 m×7 m的长方形，堆高3 m，上表面为2 m×1 m的长方形，标准模型的真实体积为69 m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":"，忽略模型在室外由于人工堆放及热胀冷缩等原因造成的误差。"}]},{"name":"p","data":[{"name":"text","data":"利用本文研制的测量系统对模拟散货堆进行10次测量，生成的点云模型如"},{"name":"xref","data":{"text":"图 8","type":"fig","rid":"Figure8","data":[{"name":"text","data":"图 8"}]}},{"name":"text","data":"所示，10次体积测量结果如"},{"name":"xref","data":{"text":"图 9","type":"fig","rid":"Figure9","data":[{"name":"text","data":"图 9"}]}},{"name":"text","data":"所示。"}]},{"name":"fig","data":{"id":"Figure7","caption":[{"lang":"zh","label":[{"name":"text","data":"图7"}],"title":[{"name":"text","data":"标准散货模型实物图"}]},{"lang":"en","label":[{"name":"text","data":"Fig 7"}],"title":[{"name":"text","data":"Photo of standard bulk cargo model"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697758&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697758&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697758&type=middle"}]}},{"name":"fig","data":{"id":"Figure8","caption":[{"lang":"zh","label":[{"name":"text","data":"图8"}],"title":[{"name":"text","data":"标准散货模型点云图"}]},{"lang":"en","label":[{"name":"text","data":"Fig 8"}],"title":[{"name":"text","data":"Point cloud of standard bulk cargo model"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697771&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697771&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697771&type=middle"}]}},{"name":"fig","data":{"id":"Figure9","caption":[{"lang":"zh","label":[{"name":"text","data":"图9"}],"title":[{"name":"text","data":"标准堆10次测量结果"}]},{"lang":"en","label":[{"name":"text","data":"Fig 9"}],"title":[{"name":"text","data":"Result of 10 times measurement"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697781&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697781&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697781&type=middle"}]}},{"name":"fig","data":{"id":"Figure10","caption":[{"lang":"zh","label":[{"name":"text","data":"图10"}],"title":[{"name":"text","data":"10次测量的相对误差"}]},{"lang":"en","label":[{"name":"text","data":"Fig 10"}],"title":[{"name":"text","data":"Relative errors of 10 times measurement"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697791&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697791&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697791&type=middle"}]}},{"name":"p","data":[{"name":"text","data":"根据"},{"name":"xref","data":{"text":"图 9","type":"fig","rid":"Figure9","data":[{"name":"text","data":"图 9"}]}},{"name":"text","data":"的测量结果，由式(12)和式(14)计算得到10次体积测量的平均相对误差为0.42%，测量的重复性误差为0.41%。结果表明，本文设计的手提式体积快速测量系统具有良好的测量精度。实验表明，该测量系统可在30 s内得到被测堆体的空间三维点云图和体积，在保证准确度的情况下，有效提高了测量的速度与效率。"}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"3.3"}],"title":[{"name":"text","data":"散货实物实验"}],"level":"2","id":"s3-3"}},{"name":"p","data":[{"name":"text","data":"利用自主研发的手提式体积快速测量系统，在秦皇岛、天津和黄骅港神华储煤基地进行实地测量实验，选取4个体积不同的大型煤堆进行典型测量，分别对每个煤堆进行10次测量，以重复测量误差来衡量测量结果的可靠性。测量结果如"},{"name":"xref","data":{"text":"表 1","type":"table","rid":"Table1","data":[{"name":"text","data":"表 1"}]}},{"name":"text","data":"所示，所提取的堆体轮廓点云分界点如"},{"name":"xref","data":{"text":"图 11","type":"fig","rid":"Figure11","data":[{"name":"text","data":"图 11"}]}},{"name":"text","data":"所示。测量煤堆1得到的点云图如"},{"name":"xref","data":{"text":"图 12","type":"fig","rid":"Figure12","data":[{"name":"text","data":"图 12"}]}},{"name":"text","data":"所示。"}]},{"name":"fig","data":{"id":"Figure11","caption":[{"lang":"zh","label":[{"name":"text","data":"图11"}],"title":[{"name":"text","data":"实际堆体轮廓点云及分界点图"}]},{"lang":"en","label":[{"name":"text","data":"Fig 11"}],"title":[{"name":"text","data":"Contour point cloud and demarcation points of actual heap"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697801&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697801&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697801&type=middle"}]}},{"name":"fig","data":{"id":"Figure12","caption":[{"lang":"zh","label":[{"name":"text","data":"图12"}],"title":[{"name":"text","data":"煤堆1的点云图"}]},{"lang":"en","label":[{"name":"text","data":"Fig 12"}],"title":[{"name":"text","data":"Point cloud of coal pile 1"}]}],"subcaption":[],"note":[],"graphics":[{"print":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697809&type=","small":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697809&type=small","big":"http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1697809&type=middle"}]}},{"name":"p","data":[{"name":"text","data":"由"},{"name":"xref","data":{"text":"表 1","type":"table","rid":"Table1","data":[{"name":"text","data":"表 1"}]}},{"name":"text","data":"中4个煤堆的10次体积测量结果可以看出，系统的测量重复性误差不会受到堆体体积的影响。计算结果显示，系统的平均重复测量误差为0.74%。其中，体积约为31 500 m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":"的煤堆1测量一次所需的时间小于10 min，而利用目前堆场使用的打点测量盘煤仪至少需要1 h。实践表明，本文设计的手提式体积快速测量系统具有良好的重复准确性，可在保证测量精度的条件下，快速获得大型煤堆的体积。"}]},{"name":"table","data":{"id":"Table1","caption":[{"lang":"zh","label":[{"name":"text","data":"表1"}],"title":[{"name":"text","data":"4个煤堆的体积测量结果"}]},{"lang":"en","label":[{"name":"text","data":"Table 1"}],"title":[{"name":"text","data":"Measuring volumes of 4 coal piles(m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":")"}]}],"note":[],"table":[{"head":[[{"align":"center","style":"class:table_top_border","data":[{"name":"text","data":"测量次数"}]},{"align":"center","style":"class:table_top_border","data":[{"name":"text","data":"煤堆1"}]},{"align":"center","style":"class:table_top_border","data":[{"name":"text","data":"煤堆2"}]},{"align":"center","style":"class:table_top_border","data":[{"name":"text","data":"煤堆3"}]},{"align":"center","style":"class:table_top_border","data":[{"name":"text","data":"煤堆4"}]}]],"body":[[{"align":"center","style":"class:table_top_border2","data":[{"name":"text","data":"1"}]},{"align":"center","style":"class:table_top_border2","data":[{"name":"text","data":"31 525.6"}]},{"align":"center","style":"class:table_top_border2","data":[{"name":"text","data":"12 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834.9"}]}],[{"align":"center","style":"class:table_bottom_border","data":[{"name":"text","data":"重复测量误差/%"}]},{"align":"center","style":"class:table_bottom_border","data":[{"name":"text","data":"0.77"}]},{"align":"center","style":"class:table_bottom_border","data":[{"name":"text","data":"0.67"}]},{"align":"center","style":"class:table_bottom_border","data":[{"name":"text","data":"0.77"}]},{"align":"center","style":"class:table_bottom_border","data":[{"name":"text","data":"0.74"}]}]],"foot":[]}]}}]}]},{"name":"sec","data":[{"name":"sectitle","data":{"label":[{"name":"text","data":"4"}],"title":[{"name":"text","data":"结论"}],"level":"1","id":"s4"}},{"name":"p","data":[{"name":"text","data":"本文提出了一种大型散货堆体积快速测量方法，解决了大型散货堆场的实时快速体积测量问题；提出了基于堆体特征轮廓的点云边缘查找算法，从而得到完整的堆体点云模型，并利用投影Delaunay三角剖分和棱柱体积累加算法计算堆体体积。标准模型堆测量实验结果表明，利用本文方法设计的测量系统测量准确，平均相对误差为0.42%，重复测量误差为0.41%。在黄骅港、秦皇岛和天津港等神华储煤基地选取多个煤堆进行实地测量。结果表明，该方法可高效快速地测量大型煤堆的体积，在10 min内完成31 500 m"},{"name":"sup","data":[{"name":"text","data":"3"}]},{"name":"text","data":"堆体的测量，体积测量的平均重复测量误差为0.74%。"}]},{"name":"p","data":[{"name":"text","data":"本文设计的手提式体积快速测量系统已协助神华集团完成黄骅港和天津港储煤基地的年度审计盘点工作，实践表明本系统在保证测量准确度的情况下，大大提高了测量效率，节省了盘点的成本和时间。该系统可以在电厂、大型储煤基地等企业进行推广应用，具有良好的实用前景。"}]}]}],"footnote":[],"reflist":{"title":[{"name":"text","data":"参考文献"}],"data":[{"id":"b1","label":"1","citation":[{"lang":"zh","text":[{"name":"text","data":"边心田, 苏显渝, 陈文强.基于反向摄影的三维坐标测量方法[J].中国激光, 2010, 37(7):1832-1836."}]},{"lang":"en","text":[{"name":"text","data":"BIAN X T, SU X Y, CHEN W Q.A novel tree-dimensional coordinates measurement method based on inverse photogrammetry[J].Chinese J. 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